考虑自动驾驶仪延迟的非线性最优末制导方法  

Nonlinear Optimal Terminal Guidance Considering Autopilot Delay

作　　者：刘俊彤 陈征[1,2] 张泽 Liu Juntong;Chen Zheng;Zhang Ze(School of Aeronautics and Astronautics,Zhejiang University,Hangzhou 310027,China;Huanjiang Laboratory,Zhuji 311800,China;Beijing Institute of Control and Electronic Technology,Beijing 100038,China)

机构地区：[1]浙江大学航空航天学院,杭州310027 [2]浣江实验室,浙江诸暨311800 [3]北京控制与电子技术研究所,北京100038

出　　处：《航空兵器》2024年第4期64-71,共8页Aero Weaponry

基　　金：国家自然科学基金项目(62088101)。

摘　　要：针对过载受限和自动驾驶仪延迟等条件下的非线性最优末制导指令在线生成方法进行研究。首先,基于庞特里亚金极大值原理,建立了目标静止的非线性最优末制导问题的最优性条件,并利用饱和函数将过载约束嵌入最优性条件。其次,应用参数化方法使得通过数值积分即可快速生成满足最优性条件的飞行轨迹数据集。然后,利用该数据集训练神经网络,使其拟合弹-目相对运动状态到最优制导指令的映射关系,实现过载约束下制导指令的毫秒量级在线生成。针对自动驾驶仪的延迟响应,通过微分补偿法估计神经网络下一时刻输出的制导指令以实现快速跟踪。最后,仿真结果表明,本文所提出方法针对静止目标与小机动目标都能够在线生成最优制导指令。The online generation method of nonlinear optimal terminal guidance command with the overload constraint and autopilot delay is studied.Firstly,the optimality conditions of the nonlinear optimal guidance problem with stationary target are established based on the Pontryagin’s maximum principle,and the overload constraint is embedded into the optimality conditions by the saturation function.Secondly,the parametric method is used to generate the flight trajectory data set that satisfies the optimality conditions by numerical integration.Then,the neural network is trained using the data set to fit the mapping relationship between the relative motion state of the missile-target and the optimal guidance command,so as to generate the guidance command under the overload constraint within milliseconds.For the delay response of autopilot,the differential compensation method is used to estimate the optimal guidance command output by the neural network at the next moment to achieve fast tracking.Finally,the simulation results show that the proposed method can generate optimal guidance command online for both stationary targets and small maneuvering targets.

关 键 词：过载约束 自动驾驶仪延迟 非线性最优末制导 参数化方法 神经网络 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] V448.2[航空宇航科学与技术—飞行器设计]